Tool gripper and automated robot

Abstract

The present invention discloses a tool grabbing gripper and an automated robot, and relates to the technical field of robots, wherein the tool grabbing gripper comprises: a fixed seat, a base, a buffer device, a clamping device, and a driving device; the fixed seat is used to connect a robotic arm; the base can be rotatably mounted on the fixed seat; the buffer device is mounted on the fixed seat, and the buffer device can abut against the base; the clamping device comprises a transmission assembly mounted on the base, and a first clamping member and a second clamping member transmission-connected to the transmission assembly; the driving device is mounted on the base, and the driving device drives the transmission assembly to make the first clamping member and the second clamping member approach or move away from each other; the technical solution of the present invention is to provide a buffer device on the tool grabbing gripper, and to make the base rotatable relative to the fixed seat abut against the buffer device, so as to buffer the torque generated when the tool is rotated and installed through the buffer device, thereby avoiding the problem of relative friction between the tool and the tool grabbing gripper when the tool is installed.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a tool grabbing gripper and an automated robot. Background Art

[0002] Faced with the rapid development of science and technology, the market demand for personalized electronic products is also increasing. Consumer electronic products are gradually changing from the traditional single-variety, large-scale production model to the multi-variety, small-batch production model. In order to adapt to market demand and improve production efficiency, the CNC machining centers that were originally manually operated by humans are gradually being replaced by automated robots that do not require manual operation. Modern integrated circuits and communication products are becoming more and more sophisticated and integrated, with fine structures with many different functions. To produce a product with multiple fine structures at the same time, it is often necessary for CNC machine tools to switch several or more than a dozen tools to complete it. In the process of refined production, CNC machine tools usually process products continuously for 24 hours, so the processing tools will be worn and replaced every day; in order to improve the degree of automation of the equipment, automated tool grippers are usually used to realize the automated replacement of new and old tools for CNC machine tools.

[0003] There are many types of tools in existing CNC machine tools, with various diameters and shapes. Traditional robot grippers use multiple conversion devices to cope with different tool shapes, which will take up space in the robot body, making the robot too large and inconvenient to operate. When the conversion device changes tools, it changes tools by matching the square slot on the tool handle with the slot on the tool magazine. When installing, it needs to be rotated left and right to insert the slot into the slot. When the robot rotates the gripper to insert the slot, it cannot sense whether the slot has been inserted into the slot through its senses like a human, resulting in continued force after the slot is inserted into the slot, causing damage to the gripper and the tool handle. Summary of the invention

[0004] The main purpose of the present invention is to provide a tool gripping gripper and an automated robot, aiming to enable the tool gripping gripper to adapt to a variety of tools and to increase the life of the tool gripping gripper and the tools.

[0005] To achieve the above-mentioned purpose, the tool grasping gripper proposed in the present invention includes: a fixed seat, a base, a buffer device, a clamping device, and a driving device; the fixed seat is used to connect the robot arm; the base can be rotatably installed on the fixed seat; the buffer device is installed on the fixed seat, and the buffer device can abut against the base; the clamping device includes a transmission assembly installed on the base, and a first clamping member and a second clamping member that are transmission-connected to the transmission assembly; the driving device is installed on the base, and the driving device drives the transmission assembly to make the first clamping member and the second clamping member approach or move away from each other.

[0006] In one embodiment, the base includes a rotating shaft rotatably connected to the fixed base, and two protrusions disposed on both sides of the rotating shaft along a first direction, and the buffer device includes two buffer components spaced apart along the first direction, and the buffer components are elastically abutted against the protrusions one-to-one.

[0007] In one embodiment, the fixing seat defines an installation cavity, the buffer device is disposed in the installation cavity, the buffer assembly includes an elastic member that can elastically extend and retract along a second direction, and a ejector pin and an adjusting member respectively disposed at both ends of the elastic member, the ejector pin is used to abut against the base, and the adjusting member is used to adjust the tightness of the elastic member, and the first direction intersects with the second direction.

[0008] In one embodiment, the fixing seat is provided with grooves corresponding to the positions of the two protrusions, the protrusions are slidably connected to the grooves, and the grooves are respectively connected to one end of the installation cavity provided with the ejector pin, so that the protrusions can respectively abut against the ejector pin.

[0009] In one embodiment, the transmission assembly includes: a first clamp arm assembly, a second clamp arm assembly, a transmission member and a connecting rod; the first clamp arm assembly is rotatably connected to the base; the second clamp arm assembly is rotatably connected to the base; the transmission member is arranged between the first clamp arm assembly and the second clamp arm assembly, one end of the transmission member is connected to the driving device, and the other end of the transmission member is transmission-connected to the first clamp arm assembly and the second clamp arm assembly; the connecting rod includes a first connecting rod and a second connecting rod, one end of the first connecting rod and one end of the second connecting rod are rotatably connected, one end of the first connecting rod away from the second connecting rod is rotatably connected to the first clamp arm assembly, and one end of the second connecting rod away from the first connecting rod is rotatably connected to the second clamp arm assembly; the first clamping member is installed on the first clamp arm assembly, and the second clamping member is installed on the second clamp arm assembly.

[0010] In one embodiment, the transmission member has a first slide groove and a second slide groove at one end away from the driving device, the first slide groove and the second slide groove are obliquely extended along the second direction, and the interval between the first slide groove and the second slide groove gradually increases from the base toward the direction away from the driving device; the first clamping arm assembly is provided with a first cam, and the first cam is slidably connected to the first slide groove; the second clamping arm assembly is provided with a second cam, and the second cam is slidably connected to the second slide groove.

[0011] In one embodiment, the first clamping member is fixedly connected to one end of the first clamping arm assembly away from the fixing base, and the second clamping member is rotatably connected to one end of the second clamping arm assembly away from the fixing base.

[0012] In one embodiment, an arc groove is provided at the connection between the second clamping member and the second clamping arm assembly, a pin is inserted into the arc groove, one end of the pin is fixedly connected to the second clamping arm assembly, and the other end of the pin is slidably connected to the arc groove.

[0013] In one embodiment, the first clamp arm assembly includes a first clamp arm and a second clamp arm that are relatively spaced apart along a third direction, a distance pillar is provided between the first clamp arm and the second clamp arm, and both ends of the distance pillar are fixedly connected to the first clamp arm and the second clamp arm; and / or, the second clamp arm assembly includes a third clamp arm and a fourth clamp arm that are relatively spaced apart along a third direction, a distance pillar is provided between the third clamp arm and the fourth clamp arm, and both ends of the distance pillar are fixedly connected to the third clamp arm and the fourth clamp arm; the third direction is parallel to the rotation axis of the base.

[0014] The present invention further provides an automated robot, comprising a robotic arm and any one of the tool grabbing grippers described above, wherein a fixing seat of the tool grabbing gripper is connected to the robotic arm.

[0015] The technical solution of the present invention is to provide a first clamping member and a second clamping member on the clamping device of the tool grasping claw. The first clamping member and the second clamping member can be moved closer to or farther away from each other through a driving device, so that the first clamping member and the second clamping member can clamp tool handles with different outer diameters and tapers. A buffer device is also provided on the tool grasping claw, and a base rotatable relative to a fixed seat is abutted against the buffer device, so that the torque generated when the tool is rotated to be installed can be buffered by the buffer device, thereby avoiding the problem of relative friction between the tool and the tool grasping claw when the tool is installed, thereby extending the service life of the tool and the tool grasping claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0017] Figure 1 A schematic structural diagram of an embodiment of a tool grabbing gripper provided by the present invention;

[0018] Figure 2 A side view of an embodiment of a tool grabbing gripper provided by the present invention;

[0019] Figure 3 A schematic diagram of the internal structure of a fixing seat of an embodiment of a tool grabbing gripper provided by the present invention;

[0020] Figure 4 A cross-sectional view of a second clamping member in an embodiment of a tool grabbing gripper provided by the present invention;

[0021] Figure 5 A schematic structural diagram of a second clamping member in an embodiment of a tool grabbing gripper provided by the present invention;

[0022] Figure 6 A schematic diagram of the structure of the tool grabbing claw clamping device provided by the present invention when it is opened;

[0023] Figure 7 This is a schematic structural diagram of the tool grabbing claw clamping device provided by the present invention when it is closed.

[0024] Description of Figure Numbers:

[0025] 100. Tool grabbing gripper; 1. Fixed seat; 2. Base; 21. Rotating axis; 22. Bump; 3. Buffer device; 31. Elastic member; 32. Ejector pin; 33. Adjusting member; 4. Clamping device; 41. Transmission assembly; 411. First clamping arm assembly; 412. Second clamping arm assembly; 413. Transmission member; 414. Connecting rod; 415. Distance support; 42. First clamping member; 43. Second clamping member; 431. Arc groove; 432. Pin; 5. Driving device.

[0026] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0029] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0030] The invention provides a tool grabbing claw.

[0031] See also Figure 1-7 In one embodiment of the present invention, the tool grabbing gripper 100 includes: a fixed seat 1, a base 2, a buffer device 3, a clamping device 4, and a driving device 5; the fixed seat 1 is used to connect the robot arm; the base 2 can be rotatably installed on the fixed seat 1; the buffer device 3 is installed on the fixed seat 1, and the buffer device 3 can abut against the base 2; the clamping device 4 includes a transmission component 41 installed on the base 2, and a first clamping member 42 and a second clamping member 43 that are transmission-connected to the transmission component 41; the driving device 5 is installed on the base 2, and the driving device 5 drives the transmission component 41 to make the first clamping member 42 and the second clamping member 43 approach or move away from each other.

[0032] In this embodiment, the fixed seat 1 has a horizontally arranged connection part and a vertically arranged support part, the connection part and the support part are integrally formed, a connection flange is provided on the connection part for connecting with the robot, and the support part is used to support other devices for grasping. The base 2 is arranged horizontally and can be rotatably installed on the top of the support part; the drive device 5 is fixedly installed below the base 2 so that the drive device 5 can be installed between the base 2 and the connection part, which can save equipment space and not affect the operation of other devices; the clamping device 4 is installed above the base 2, which is more convenient for the tool grasping claw 100 to grasp and rotate and install the tool. The buffer device 3 is arranged inside the base 2, and a space for installing the buffer device 3 is opened inside the base 2, so that the buffer device 3 can play a buffering role without occupying additional equipment space, and can also limit the position of the buffer device 3 so that it can be extended and retracted in a preset direction to buffer the corresponding torsional force. When the tool grabbing gripper 100 is working, the driving device 5 first controls the opening and closing of the first clamping member 42 and the second clamping member 43 through the transmission assembly 41, grabs the tool between the first clamping member 42 and the second clamping member 43 and is clamped by the first clamping member 42 and the second clamping member 43, then moves the tool to the position where it needs to be assembled, and matches the slot on the tool bar with the clamping position by rotation. If the robot does not feel it after the assembly is in place, it still drives the tool grabbing gripper 100 to continue to rotate. The base 2 can buffer the torsional force brought by the robot's mechanical arm by pressing the buffer member, thereby avoiding relative friction between the tool grabbing gripper 100 and the tool handle, and then avoiding wear of the tool grabbing gripper 100 and the tool, thereby increasing the life of the equipment. The contact surface between the first clamping member 42 and the second clamping member 43 and the tool is provided with hard rubber, which is used to prevent the metal clamping member from colliding with the tool holder to cause scratches on the outer surface of the tool, and at the same time can increase the friction between the tool and the clamping member to avoid relative rotation between the tool and the clamping member.

[0033] The technical solution of the present invention is to provide a first clamping member 42 and a second clamping member 43 on the clamping device 4 of the tool grasping gripper 100. The first clamping member 42 and the second clamping member 43 can be moved closer to or farther away from each other through the driving device 5, so that the first clamping member 42 and the second clamping member 43 can clamp tool handles with different outer diameters and tapers; a buffer device 3 is also provided on the tool grasping gripper 100, and a base 2 rotatable relative to the fixed seat 1 is abutted against the buffer device 3, so that the torque generated when the tool is rotated to be installed can be buffered by the buffer device 3, so as to avoid the problem of relative friction between the tool and the tool grasping gripper 100 when the tool is installed, thereby extending the service life of the tool and the tool grasping gripper 100.

[0034] Reference Figure 3In one embodiment, the base 2 includes a rotating shaft 21 rotatably connected to the fixed base 1, and two protrusions 22 disposed on both sides of the rotating shaft 21 along a first direction. The buffer device 3 includes two buffer components spaced apart along the first direction, and the buffer components elastically abut against the protrusions 22 one by one. The two protrusions 22 are spaced apart on both sides of the rotating shaft 21. When the base 2 rotates around the rotating shaft 21, the protrusions 22 rotate with the base 2 around the rotating shaft 21. At this time, the protrusions 22 and the base 2 jointly form a lever with the rotating shaft 21 as the fulcrum. When the protrusions 22 at either end are pressed down, they can abut against the ejector pin 32. The downward pressing force of the protrusions 22 is offset by the elastic member 31 connected to the ejector pin 32, thereby offsetting the torsional force of the tool grabbing claw. In this embodiment, the elastic member 31 is a spring, which is arranged along its force direction. The force direction of the spring is the same as the expansion and contraction direction of the spring, which can maximize the buffering of the torsional force applied to the tool during installation. One end of the spring is fixedly connected to the ejector pin 32, and the ejector pin 32 is used to abut against the base 2 so that the spring is evenly stressed. The adjusting member 33 is used to adjust the tightness of the spring according to the actual force conditions of the equipment so that it can withstand different torsional forces.

[0035] In one embodiment, the fixing seat 1 is provided with an installation cavity, the buffer device 3 is provided in the installation cavity, and the buffer assembly includes an elastic member 31 that can be elastically extended and retracted along the second direction, and a pin 32 and an adjusting member 33 respectively provided at both ends of the elastic member 31, the pin 32 is used to abut against the base 2, and the adjusting member 33 is used to adjust the tightness of the elastic member 31, and the first direction intersects with the second direction. The installation cavity is provided to match the shape of the elastic member 31, so that the elastic member 31 can be limited in the installation cavity, and even when subjected to force, the elastic member 31 will not be skewed due to structural instability. In addition, the installation cavity is provided along the force direction of the elastic member 31, so that the elastic member 31 can be extended and retracted along the force direction, thereby maximally buffering the torsional force received when the tool is installed.

[0036] Reference Figure 3 In one embodiment, the fixing seat 1 is provided with grooves at positions corresponding to the two protrusions 22, and the protrusions 22 slide in the grooves. The grooves are respectively connected with one end of the mounting cavity provided with the ejector pin 32, so that the protrusions 22 can respectively abut against the ejector pin 32. The grooves are arranged in an arc shape, and the groove width is the same as the diameter of the protrusion 22. After the protrusion 22 is inserted into the groove, it can only slide along the track of the groove to prevent the device from over-rotating and causing damage to other device structures. One end of the groove is connected with the mounting cavity to ensure that the protrusion 22 can abut against the ejector pin 32.

[0037] Reference Figure 1 , 67. In one embodiment, the transmission assembly 41 includes: a first clamp arm assembly 411, a second clamp arm assembly 412, a transmission member 413 and a connecting rod 414; the first clamp arm assembly 411 is rotatably connected to the base 2; the second clamp arm assembly 412 is rotatably connected to the base 2; the transmission member 413 is arranged between the first clamp arm assembly 411 and the second clamp arm assembly 412, one end of the transmission member 413 is connected to the driving device 5, and the other end of the transmission member 413 is transmission-connected to the first clamp arm assembly 411 and the second clamp arm assembly 412; the connecting rod 414 includes a first connecting rod and a second connecting rod, one end of the first connecting rod and the second connecting rod are rotatably connected, one end of the first connecting rod away from the second connecting rod is rotatably connected to the first clamp arm assembly 411, and one end of the second connecting rod away from the first connecting rod is rotatably connected to the second clamp arm assembly 412; the first clamp member 42 is installed on the first clamp arm assembly 411, and the second clamp member 43 is installed on the second clamp arm assembly 412. The transmission member 413 is used to connect the power member and the clamp arm assembly to convert the direction of force, converting the up and down movement of the power member into the opening and closing movement of the clamp arm assembly. The connecting rod 414 is used to limit the maximum opening distance of the first clamp arm assembly 411 and the second clamp arm assembly 412 to prevent the first clamp arm assembly 411 and the second clamp arm assembly 412 from opening too much and colliding with other equipment structures. Figure 6 When the transmission member 413 moves downward under the action of the power member, the first clamping arm assembly 411 and the second clamping arm assembly 412 gradually open to place the tool; Figure 7 When the transmission member 413 moves upward under the action of the power member, the first clamp arm assembly 411 and the second clamp arm assembly 412 gradually close to clamp the tool. One end of the first connecting rod and the second connecting rod are rotatably connected by a fastener such as a pin or a stud, and the other end is rotatably connected to the first clamp arm assembly 411 and the second clamp arm assembly 412 in the same way, so that the connecting rod 414 can bend to adjust the distance between its two ends, thereby not affecting the opening and clamping of the first clamp arm assembly 411 and the second clamp arm assembly 412. Figure 6 When the first connecting rod and the second connecting rod are opened to the maximum angle, the two ends of the connecting rod 414 reach the maximum distance. At this time, the first clamping arm assembly 411 and the second clamping arm assembly 412 are opened to the maximum angle and cannot continue to open under the connection of the connecting rod 414.

[0038] In one embodiment, the transmission member 413 is provided with a first slide groove and a second slide groove at one end away from the driving device 5, and the first slide groove and the second slide groove are arranged to extend obliquely along the second direction, and the interval between the first slide groove and the second slide groove gradually increases from the base 2 to the direction away from the driving device 5; the first clamping arm assembly 411 is provided with a first cam, and the first cam is slidably connected to the first slide groove; the second clamping arm assembly 412 is provided with a second cam, and the second cam is slidably connected to the second slide groove. When the transmission member 413 moves downward under the action of the power member, the cam on the clamping arm assembly slides from the bottom of the slide groove to the top. At this time, since the first slide groove and the second slide groove are arranged at an angle of gradually opening upward, when the cam slides upward from the bottom of the slide groove, under the action of the slide groove, the cam drives the first clamping arm assembly 411 and the second clamping arm assembly 412 to gradually open outward; when the transmission member 413 moves upward under the action of the power member, the cam on the clamping arm assembly slides from the top of the slide groove to the bottom. At this time, under the action of the slide groove, the cam drives the first clamping arm assembly 411 and the second clamping arm assembly 412 to gradually close inward.

[0039] In one embodiment, the first clamping member 42 is fixedly connected to one end of the first clamping arm assembly 411 away from the fixed seat 1, and the second clamping member 43 is rotatably connected to one end of the second clamping arm assembly 412 away from the fixed seat 1. The first clamping member 42 and the second clamping member 43 are connected to the clamping arm assembly correspondingly, so that they can move closer to or farther away from each other under the opening and closing action of the clamping arm assembly; and the second clamping member 43 can rotate relative to the second assembly, so that it can be combined with the first clamping member 42 to adjust to different angles to adapt to tool handles with different tapers, and can fit the outer surface of the tool handle more closely to clamp the tool without swinging at will, which makes it difficult to align and lock. The first clamping member 42 and the second clamping member 43 both have a connecting block for connecting to the clamping arm assembly, and a clamping jaw integrally arranged with the connecting block, the side of the clamping jaw is V-shaped, and the openings of the two V-shaped clamping jaws are arranged oppositely.

[0040] Reference Figure 2 , 4 5. In one embodiment, an arc groove 431 is provided at the connection between the second clamping member 43 and the second clamping arm assembly 412, and a pin 432 is inserted into the arc groove 431. One end of the pin 432 is fixedly connected to the second clamping arm assembly 412, and the other end of the pin 432 is slidably connected to the arc groove 431. In this embodiment, an arc groove 431 is provided on the upper and lower surfaces of the connecting block of the second clamping member 43. The arc grooves 431 have the same shape and position. Two pins 432 are provided at the connection between the first clamping arm assembly 411 and the connecting hole. The two pins 432 are arranged opposite to each other along the second direction, corresponding to the two arc grooves 431 on the connecting block one by one and slidably connected. Under the action of the pin 432 and the arc groove 431, the second clamping member 43 can only rotate along the trajectory of the arc groove 431, and adjust the angle formed by itself and the first clamping member 42 through circular rotation, so as to adapt to tools with different tapers.

[0041] Reference Figure 1-2 In one embodiment, the first clamp arm assembly 411 includes a first clamp arm and a second clamp arm arranged at a relative interval along a third direction, a distance pillar 415 is provided between the first clamp arm and the second clamp arm, and the first clamp arm and the second clamp arm are fixedly connected at both ends of the distance pillar 415; and / or, the second clamp arm assembly 412 includes a third clamp arm and a fourth clamp arm arranged at a relative interval along the third direction, a distance pillar 415 is provided between the third clamp arm and the fourth clamp arm, and the third clamp arm and the fourth clamp arm are fixedly connected at both ends of the distance pillar 415; the third direction is parallel to the rotation axis of the base 2. Arranging multiple clamp arms to move synchronously can improve the stability of the structure and avoid bending of the clamp arms during the process of clamping and installing the tool. The distance pillar 415 is used to fix the distance between the two clamp arms. The bottoms of the two clamp arms are both rotatably connected to the base 2. In cooperation with the positioning pillar, the relative positions of the two clamp arms can be limited. In addition, the positioning pillar can also make the two clamp arm assemblies move synchronously to avoid the relative position deviation of the two clamp arms, which leads to the situation that the tool cannot be clamped.

[0042] The present invention also proposes an automated robot, which includes a robotic arm and any one of the above tool grabbing grippers 100, the fixed seat 1 of the tool grabbing gripper 100 is connected to the robotic arm, and the specific structure of the tool grabbing gripper 100 refers to the above embodiment. Since the present automated robot adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here. Among them, the fixed seat 1 of the tool grabbing gripper 100 is fixedly installed on the robotic arm, and the tool grabbing gripper 100 is driven by the robotic arm to transfer to any preset workstation, and the tool is rotated and clamped into the preset position by twisting the robotic arm.

[0043] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A tool grabbing gripper, characterized in that: include: A fixing base, used for connecting the robot arm; A base, the base being rotatably mounted on the fixing base; A buffer device, mounted on the fixing seat, the buffer device being capable of abutting against the base; A clamping device, the clamping device comprising a transmission assembly mounted on the base, and a first clamping member and a second clamping member transmission-connected to the transmission assembly; A driving device, mounted on the base, wherein the driving device drives and connects the transmission assembly to move the first clamping member and the second clamping member closer to or farther from each other; The base includes a rotating shaft rotatably connected to the fixed base, and two protrusions disposed on both sides of the rotating shaft along a first direction, and the buffer device includes two buffer components spaced apart along the first direction, and the buffer components are elastically abutted against the protrusions one-to-one; The fixing seat defines an installation cavity, the buffer device is disposed in the installation cavity, the buffer assembly comprises an elastic member that can elastically extend and retract along a second direction, and a ejector pin and an adjusting member respectively disposed at both ends of the elastic member, the ejector pin is used to abut against the base, and the adjusting member is used to adjust the tightness of the elastic member, and the first direction intersects with the second direction.

2. The tool gripping gripper according to claim 1, characterized in that: The fixing seat is provided with grooves at positions corresponding to the two protrusions, the protrusions are slidably connected to the grooves, and the grooves are respectively communicated with one end of the installation cavity provided with the ejector pin, so that the protrusions can abut against the ejector pins respectively.

3. The tool gripping gripper according to claim 1, characterized in that: The transmission assembly comprises: A first clamping arm assembly, rotatably connected to the base; A second clamping arm assembly, rotatably connected to the base; a transmission member, disposed between the first clamp arm assembly and the second clamp arm assembly, one end of the transmission member being connected to the driving device, and the other end of the transmission member being transmission-connected to the first clamp arm assembly and the second clamp arm assembly; and A connecting rod, comprising a first connecting rod and a second connecting rod, wherein one end of the first connecting rod is rotatably connected to one end of the second connecting rod, one end of the first connecting rod away from the second connecting rod is rotatably connected to the first clamp arm assembly, and one end of the second connecting rod away from the first connecting rod is rotatably connected to the second clamp arm assembly; The first clamping member is installed on the first clamping arm assembly, and the second clamping member is installed on the second clamping arm assembly.

4. The tool grabbing gripper according to claim 3, characterized in that: The transmission member has a first slide groove and a second slide groove at one end away from the driving device, and the first slide groove and the second slide groove are obliquely extended along the second direction, and the interval between the first slide groove and the second slide groove gradually increases from the base toward the direction away from the driving device; the first clamping arm assembly is provided with a first cam, and the first cam is slidably connected to the first slide groove; the second clamping arm assembly is provided with a second cam, and the second cam is slidably connected to the second slide groove.

5. The tool grabbing gripper according to claim 3, characterized in that: The first clamping member is fixedly connected to one end of the first clamping arm assembly away from the fixing base, and the second clamping member is rotatably connected to one end of the second clamping arm assembly away from the fixing base.

6. The tool grabbing gripper according to claim 3, characterized in that: An arc groove is provided at the connection between the second clamping member and the second clamping arm assembly, a pin is inserted into the arc groove, one end of the pin is fixedly connected to the second clamping arm assembly, and the other end of the pin is slidably connected to the arc groove.

7. The tool grabbing gripper according to claim 3, characterized in that: The first clamp arm assembly comprises a first clamp arm and a second clamp arm which are arranged relatively spaced apart along a third direction, a distance pillar is provided between the first clamp arm and the second clamp arm, and two ends of the distance pillar are fixedly connected to the first clamp arm and the second clamp arm; And / or, the second clamp arm assembly comprises a third clamp arm and a fourth clamp arm which are arranged relatively spaced apart along a third direction, a distance pillar is provided between the third clamp arm and the fourth clamp arm, and two ends of the distance pillar are fixedly connected to the third clamp arm and the fourth clamp arm; The third direction is parallel to the rotation axis of the base.

8. An automated robot, characterized in that: It comprises a mechanical arm and a tool grabbing gripper as claimed in any one of claims 1 to 7, wherein a fixing seat of the tool grabbing gripper is connected to the mechanical arm.

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